<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: common/include/pcl/point_cloud.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('common_2include_2pcl_2point__cloud_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">point_cloud.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_POINT_CLOUD_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_POINT_CLOUD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#pragma GCC system_header </span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLHeader.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/exceptions.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/point_traits.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_field_mapping.html">   56</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_field_mapping.html">FieldMapping</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordtype">size_t</span> serialized_offset;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keywordtype">size_t</span> struct_offset;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordtype">size_t</span> size;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    };</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  } <span class="comment">// namespace detail</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">class </span><a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">typedef</span> std::vector&lt;detail::FieldMapping&gt; MsgFieldMap;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_eigen_point_functor.html">   70</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_nd_copy_eigen_point_functor.html">NdCopyEigenPointFunctor</a></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointOutT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_eigen_point_functor.html#a4aaf515c06547ae5b716c397e610b71b">   78</a></span>&#160;    <a class="code" href="structpcl_1_1_nd_copy_eigen_point_functor.html#a4aaf515c06547ae5b716c397e610b71b">NdCopyEigenPointFunctor</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;p1, PointOutT &amp;p2)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      : p1_ (p1),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        p2_ (reinterpret_cast&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;&gt;(p2)),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        f_idx_ (0) { }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_eigen_point_functor.html#a7979c2191657f87402f31e3653bf6e33">   85</a></span>&#160;    <a class="code" href="structpcl_1_1_nd_copy_eigen_point_functor.html#a7979c2191657f87402f31e3653bf6e33">operator() </a>()</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="comment">//boost::fusion::at_key&lt;Key&gt; (p2_) = p1_[f_idx_++];</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointOutT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span>(&amp;p2_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointOutT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      *<span class="keyword">reinterpret_cast&lt;</span>T*<span class="keyword">&gt;</span>(data_ptr) = <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span> (p1_[f_idx_++]);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;p1_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      Pod &amp;p2_;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;   };</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_point_eigen_functor.html">  103</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_nd_copy_point_eigen_functor.html">NdCopyPointEigenFunctor</a></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointInT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_point_eigen_functor.html#ae5f603e9b0917c7210e17725d2f2452b">  111</a></span>&#160;     <a class="code" href="structpcl_1_1_nd_copy_point_eigen_functor.html#ae5f603e9b0917c7210e17725d2f2452b">NdCopyPointEigenFunctor</a> (<span class="keyword">const</span> PointInT &amp;p1, Eigen::VectorXf &amp;p2)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      : p1_ (reinterpret_cast&lt;const <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;&gt;(p1)), p2_ (p2), f_idx_ (0) { }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_copy_point_eigen_functor.html#a8a49bab2c09bde18f02f3d54decba885">  116</a></span>&#160;    <a class="code" href="structpcl_1_1_nd_copy_point_eigen_functor.html#a8a49bab2c09bde18f02f3d54decba885">operator() </a>()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">//p2_[f_idx_++] = boost::fusion::at_key&lt;Key&gt; (p1_);</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointInT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">const</span> uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span>(&amp;p1_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointInT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      p2_[f_idx_++] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(data_ptr));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">const</span> Pod &amp;p1_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      Eigen::VectorXf &amp;p2_;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  };</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::shared_ptr&lt;pcl::MsgFieldMap&gt;&amp;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    getMapping (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; p);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  } <span class="comment">// namespace detail</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html">  172</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">  179</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">PointCloud</a> () : </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        header (), points (), width (0), height (0), is_dense (true),</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        sensor_origin_ (Eigen::Vector4f::Zero ()), sensor_orientation_ (Eigen::Quaternionf::Identity ()),</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      {}</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">  188</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">PointCloud</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> &amp;pc) : </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        header (), points (), width (0), height (0), is_dense (true), </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        sensor_origin_ (Eigen::Vector4f::Zero ()), sensor_orientation_ (Eigen::Quaternionf::Identity ()),</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        *<span class="keyword">this</span> = pc;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">  199</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">PointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> &amp;pc) : </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        header (), points (), width (0), height (0), is_dense (true), </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        sensor_origin_ (Eigen::Vector4f::Zero ()), sensor_orientation_ (Eigen::Quaternionf::Identity ()),</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        *<span class="keyword">this</span> = pc;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">  211</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">PointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> &amp;pc, </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices) :</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        header (pc.header), points (indices.size ()), width (indices.size ()), height (1), is_dense (pc.is_dense),</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        sensor_origin_ (pc.sensor_origin_), sensor_orientation_ (pc.sensor_orientation_),</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        mapping_ ()</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="comment">// Copy the obvious</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        assert (indices.size () &lt;= pc.size ());</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); i++)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          points[i] = pc.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[i]];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">PointCloud</a> (uint32_t width_, uint32_t height_, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; value_ = <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ())</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        : header ()</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        , points (width_ * height_, value_)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        , width (width_)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        , height (height_)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        , is_dense (true)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        , sensor_origin_ (Eigen::Vector4f::Zero ())</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        , sensor_orientation_ (Eigen::Quaternionf::Identity ())</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        , mapping_ ()</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      {}</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">  240</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">~PointCloud</a> () {}</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp;</div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a335a1cf1c305cc563f9ebeb2a61f994b">  247</a></span>&#160;      operator += (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; rhs)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="comment">// Make the resultant point cloud take the newest stamp</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keywordflow">if</span> (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a> &gt; header.stamp)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;          header.stamp = rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>.<a class="code" href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">stamp</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keywordtype">size_t</span> nr_points = points.size ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        points.resize (nr_points + rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = nr_points; i &lt; points.size (); ++i)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          points[i] = rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i - nr_points];</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        width    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(points.size ());</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        height   = 1;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <span class="keywordflow">if</span> (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> &amp;&amp; is_dense)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a></div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ac5959e2829b27d093904c222257f1b1c">  272</a></span>&#160;      operator + (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; rhs)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> (*<span class="keyword">this</span>) += rhs);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">  283</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (<span class="keywordtype">int</span> column, <span class="keywordtype">int</span> row)<span class="keyword"> const</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        <span class="keywordflow">if</span> (this-&gt;height &gt; 1)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;          <span class="keywordflow">return</span> (points.at (row * this-&gt;width + column));</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;          <span class="keywordflow">throw</span> <a class="code" href="classpcl_1_1_is_not_dense_exception.html">IsNotDenseException</a> (<span class="stringliteral">&quot;Can&#39;t use 2D indexing with a unorganized point cloud&quot;</span>);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00297"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">  297</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">at</a> (<span class="keywordtype">int</span> column, <span class="keywordtype">int</span> row)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordflow">if</span> (this-&gt;height &gt; 1)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          <span class="keywordflow">return</span> (points.at (row * this-&gt;width + column));</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;          <span class="keywordflow">throw</span> <a class="code" href="classpcl_1_1_is_not_dense_exception.html">IsNotDenseException</a> (<span class="stringliteral">&quot;Can&#39;t use 2D indexing with a unorganized point cloud&quot;</span>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a91451e94e3c4d3bbe1e0a499de5163f4">  311</a></span>&#160;      operator () (<span class="keywordtype">size_t</span> column, <span class="keywordtype">size_t</span> row)<span class="keyword"> const</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">return</span> (points[row * this-&gt;width + column]);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a72a535e193c4669ece027971e7fa21a2">  322</a></span>&#160;      operator () (<span class="keywordtype">size_t</span> column, <span class="keywordtype">size_t</span> row)</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordflow">return</span> (points[row * this-&gt;width + column]);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">  331</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        <span class="keywordflow">return</span> (height &gt; 1);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      }</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="keyword">inline</span> Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; </div>
<div class="line"><a name="l00352"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">  352</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">getMatrixXfMap</a> (<span class="keywordtype">int</span> dim, <span class="keywordtype">int</span> stride, <span class="keywordtype">int</span> offset)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      {</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="keywordflow">if</span> (Eigen::MatrixXf::Flags &amp; Eigen::RowMajorBit)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;points[0])+offset, points.size (), dim, Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;points[0])+offset, dim, points.size (), Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      }</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Map&lt;const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;</div>
<div class="line"><a name="l00376"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">  376</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">getMatrixXfMap</a> (<span class="keywordtype">int</span> dim, <span class="keywordtype">int</span> stride, <span class="keywordtype">int</span> offset)<span class="keyword"> const</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">if</span> (Eigen::MatrixXf::Flags &amp; Eigen::RowMajorBit)</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;<span class="keyword">const</span> Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(<span class="keyword">const_cast&lt;</span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>*<span class="keyword">&gt;</span>(&amp;points[0]))+offset, points.size (), dim, Eigen::OuterStride&lt;&gt; (stride)));</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          <span class="keywordflow">return</span> (Eigen::Map&lt;<span class="keyword">const</span> Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;(<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(<span class="keyword">const_cast&lt;</span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>*<span class="keyword">&gt;</span>(&amp;points[0]))+offset, dim, points.size (), Eigen::OuterStride&lt;&gt; (stride)));                </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      }</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="keyword">inline</span> Eigen::Map&lt;Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;</div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">  390</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">getMatrixXfMap</a> () </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        <span class="keywordflow">return</span> (getMatrixXfMap (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>),  <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>), 0));</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Eigen::Map&lt;const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt;</div>
<div class="line"><a name="l00401"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">  401</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">getMatrixXfMap</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        <span class="keywordflow">return</span> (getMatrixXfMap (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>),  <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>), 0));</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      }</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">  407</a></span>&#160;      <a class="code" href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a> <a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">  410</a></span>&#160;      std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; <a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">  413</a></span>&#160;      uint32_t <a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">  415</a></span>&#160;      uint32_t <a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">  418</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">  421</a></span>&#160;      Eigen::Vector4f    <a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>;</div>
<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">  423</a></span>&#160;      Eigen::Quaternionf <a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointType</a>;  <span class="comment">// Make the template class available from the outside</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt; VectorType;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;PointCloud&lt;PointT&gt;, Eigen::aligned_allocator&lt;PointCloud&lt;PointT&gt; &gt; &gt; CloudVectorType;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="comment">// std container compatibility typedefs according to</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="comment">// http://en.cppreference.com/w/cpp/concept/Container</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">value_type</a>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp;       <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">reference</a>;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">const_reference</a>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> VectorType::difference_type difference_type;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> VectorType::size_type size_type;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="comment">// iterators</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> VectorType::iterator iterator;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> VectorType::const_iterator const_iterator;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      <span class="keyword">inline</span> iterator begin () { <span class="keywordflow">return</span> (points.begin ()); }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keyword">inline</span> iterator end ()   { <span class="keywordflow">return</span> (points.end ()); }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="keyword">inline</span> const_iterator begin ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points.begin ()); }</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keyword">inline</span> const_iterator end ()<span class="keyword"> const  </span>{ <span class="keywordflow">return</span> (points.end ()); }</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="comment">//capacity</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span> size ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points.size ()); }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> reserve (<span class="keywordtype">size_t</span> n) { points.reserve (n); }</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> empty ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> points.empty (); }</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">  455</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (<span class="keywordtype">size_t</span> n) </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      { </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        points.resize (n);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        <span class="keywordflow">if</span> (width * height != n)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;          width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (n);</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;          height = 1;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      }</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;      <span class="comment">//element access</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; operator[] (<span class="keywordtype">size_t</span> n)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points[n]); }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; operator[] (<span class="keywordtype">size_t</span> n) { <span class="keywordflow">return</span> (points[n]); }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; at (<span class="keywordtype">size_t</span> n)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points.at (n)); }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; at (<span class="keywordtype">size_t</span> n) { <span class="keywordflow">return</span> (points.at (n)); }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; front ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points.front ()); }</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; front () { <span class="keywordflow">return</span> (points.front ()); }</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; back ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (points.back ()); }</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; back () { <span class="keywordflow">return</span> (points.back ()); }</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">  480</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt)</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        points.push_back (pt);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        height = 1;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      <span class="keyword">inline</span> iterator </div>
<div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">  494</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">insert</a> (iterator position, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt)</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      {</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        iterator it = points.insert (position, pt);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        height = 1;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      }</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00509"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">  509</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">insert</a> (iterator position, <span class="keywordtype">size_t</span> n, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt)</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        points.insert (position, n, pt);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        height = 1;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      }</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">class</span> InputIterator&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00523"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">  523</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">insert</a> (iterator position, InputIterator first, InputIterator last)</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        points.insert (position, first, last);</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        height = 1;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      }</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keyword">inline</span> iterator </div>
<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">  536</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">erase</a> (iterator position)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        iterator it = points.erase (position); </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        height = 1;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      }</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keyword">inline</span> iterator </div>
<div class="line"><a name="l00551"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">  551</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">erase</a> (iterator first, iterator last)</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      {</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        iterator it = points.erase (first, last);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (points.size ());</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        height = 1;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;        <span class="keywordflow">return</span> (it);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      }</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00563"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">  563</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">swap</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> &amp;rhs)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        this-&gt;points.swap (rhs.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        std::swap (width, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        std::swap (height, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        std::swap (is_dense, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        std::swap (sensor_origin_, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        std::swap (sensor_orientation_, rhs.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      }</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00575"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">  575</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ()</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      {</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;        points.clear ();</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        width = 0;</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;        height = 0;</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;      }</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      <span class="keyword">inline</span> Ptr </div>
<div class="line"><a name="l00588"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">  588</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">makeShared</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> (*<span class="keyword">this</span>)); }</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      <span class="comment">// This is motivated by ROS integration. Users should not need to access mapping_.</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;      boost::shared_ptr&lt;MsgFieldMap&gt; mapping_;</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160; </div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      <span class="keyword">friend</span> boost::shared_ptr&lt;MsgFieldMap&gt;&amp; detail::getMapping&lt;PointT&gt;(<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;p);</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  };</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  {</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::shared_ptr&lt;pcl::MsgFieldMap&gt;&amp;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    getMapping (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; p)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;      <span class="keywordflow">return</span> (p.mapping_);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;    }</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  } <span class="comment">// namespace detail</span></div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; std::ostream&amp;</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  operator &lt;&lt; (std::ostream&amp; s, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;p)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  {</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;points[]: &quot;</span> &lt;&lt; p.points.size () &lt;&lt; std::endl;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;width: &quot;</span> &lt;&lt; p.width &lt;&lt; std::endl;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;height: &quot;</span> &lt;&lt; p.height &lt;&lt; std::endl;</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;is_dense: &quot;</span> &lt;&lt; p.is_dense &lt;&lt; std::endl;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    s &lt;&lt; <span class="stringliteral">&quot;sensor origin (xyz): [&quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      p.sensor_origin_.x () &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;      p.sensor_origin_.y () &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;      p.sensor_origin_.z () &lt;&lt; <span class="stringliteral">&quot;] / orientation (xyzw): [&quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      p.sensor_orientation_.x () &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      p.sensor_orientation_.y () &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      p.sensor_orientation_.z () &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      p.sensor_orientation_.w () &lt;&lt; <span class="stringliteral">&quot;]&quot;</span> &lt;&lt;</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      std::endl;</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keywordflow">return</span> (s);</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  }</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;}</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PointCloud(T) template class PCL_EXPORTS pcl::PointCloud&lt;T&gt;;</span></div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_POINT_CLOUD_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_is_not_dense_exception_html"><div class="ttname"><a href="classpcl_1_1_is_not_dense_exception.html">pcl::IsNotDenseException</a></div><div class="ttdoc">An exception that is thrown when a PointCloud is not dense but is attemped to be used as dense</div><div class="ttdef"><b>Definition:</b> exceptions.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a06463926e7cbe52ed3c024c7bc7565d3"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a06463926e7cbe52ed3c024c7bc7565d3">pcl::PointCloud::erase</a></div><div class="ttdeci">iterator erase(iterator position)</div><div class="ttdoc">Erase a point in the cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:536</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a06d2d868269c767930f24ac273ed9e05"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a06d2d868269c767930f24ac273ed9e05">pcl::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud()</div><div class="ttdoc">Default constructor. Sets is_dense to true, width and height to 0, and the sensor_origin_ and sensor_...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0fb96c26772eca605280d622efe35995"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0fb96c26772eca605280d622efe35995">pcl::PointCloud::getMatrixXfMap</a></div><div class="ttdeci">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; getMatrixXfMap(int dim, int stride, int offset) const</div><div class="ttdoc">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:376</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a1155fe4ba5cdc7e83cb72159a4ea02dc"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">pcl::PointCloud::at</a></div><div class="ttdeci">const PointT &amp; at(int column, int row) const</div><div class="ttdoc">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a194a19cac54494383e3706a72f4240fb"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a194a19cac54494383e3706a72f4240fb">pcl::PointCloud::getMatrixXfMap</a></div><div class="ttdeci">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; getMatrixXfMap()</div><div class="ttdoc">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:390</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2901a922dac074254160e1e11912d2c5"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2901a922dac074254160e1e11912d2c5">pcl::PointCloud::erase</a></div><div class="ttdeci">iterator erase(iterator first, iterator last)</div><div class="ttdoc">Erase a set of points given by a (first, last) iterator pair</div><div class="ttdef"><b>Definition:</b> point_cloud.h:551</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2a482d4048581443749a04e3aabb3691"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2a482d4048581443749a04e3aabb3691">pcl::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(const PointCloud&lt; PointT &gt; &amp;pc, const std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Copy constructor from point cloud subset</div><div class="ttdef"><b>Definition:</b> point_cloud.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3cccb494b2875101b528a8919c738f9b"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3cccb494b2875101b528a8919c738f9b">pcl::PointCloud::insert</a></div><div class="ttdeci">void insert(iterator position, InputIterator first, InputIterator last)</div><div class="ttdoc">Insert a new range of points in the cloud, at a certain position.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:523</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f4e3cd77252d0256e96de21d1f0219d"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f4e3cd77252d0256e96de21d1f0219d">pcl::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(const PointCloud&lt; PointT &gt; &amp;pc)</div><div class="ttdoc">Copy constructor (needed by compilers such as Intel C++)</div><div class="ttdef"><b>Definition:</b> point_cloud.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a70ff499c4a3f9398bc3d1629b066db30"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a70ff499c4a3f9398bc3d1629b066db30">pcl::PointCloud::insert</a></div><div class="ttdeci">void insert(iterator position, size_t n, const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud N times, given an iterator.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:509</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a75387c07a2d24ee943eb71ab1c00e4a7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a75387c07a2d24ee943eb71ab1c00e4a7">pcl::PointCloud::insert</a></div><div class="ttdeci">iterator insert(iterator position, const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, given an iterator.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:494</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a930c2d1f3d8682ca228873ce1c5cc7c4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a930c2d1f3d8682ca228873ce1c5cc7c4">pcl::PointCloud::at</a></div><div class="ttdeci">PointT &amp; at(int column, int row)</div><div class="ttdoc">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:297</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aa614daa65a6a30956886ccd24e5fa4d4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aa614daa65a6a30956886ccd24e5fa4d4">pcl::PointCloud::~PointCloud</a></div><div class="ttdeci">virtual ~PointCloud()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ab4a0b63e9c8442286b08336f8385a9ea"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ab4a0b63e9c8442286b08336f8385a9ea">pcl::PointCloud::swap</a></div><div class="ttdeci">void swap(PointCloud&lt; PointT &gt; &amp;rhs)</div><div class="ttdoc">Swap a point cloud with another cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:563</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ab5892ddcac7bafdcf659551846ac6aae"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ab5892ddcac7bafdcf659551846ac6aae">pcl::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(uint32_t width_, uint32_t height_, const PointT &amp;value_=PointT())</div><div class="ttdoc">Allocate constructor from point cloud subset</div><div class="ttdef"><b>Definition:</b> point_cloud.h:228</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ab9486898ac363e8206829da7c01ea62d"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ab9486898ac363e8206829da7c01ea62d">pcl::PointCloud::getMatrixXfMap</a></div><div class="ttdeci">Eigen::Map&lt; Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; getMatrixXfMap(int dim, int stride, int offset)</div><div class="ttdoc">Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:352</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ac32b534164db32cebec965ed5507e490"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ac32b534164db32cebec965ed5507e490">pcl::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(PointCloud&lt; PointT &gt; &amp;pc)</div><div class="ttdoc">Copy constructor (needed by compilers such as Intel C++)</div><div class="ttdef"><b>Definition:</b> point_cloud.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ada3e021bcb3f4d8d62ea3f00324fc126"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ada3e021bcb3f4d8d62ea3f00324fc126">pcl::PointCloud::getMatrixXfMap</a></div><div class="ttdeci">const Eigen::Map&lt; const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride&lt;&gt; &gt; getMatrixXfMap() const</div><div class="ttdoc">Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:401</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_afebbbb9c522a94cf245dd3968b50ed5e"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#afebbbb9c522a94cf245dd3968b50ed5e">pcl::PointCloud::makeShared</a></div><div class="ttdeci">Ptr makeShared() const</div><div class="ttdoc">Copy the cloud to the heap and return a smart pointer Note that deep copy is performed,...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:588</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_copy_eigen_point_functor.html">pcl::NdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen type and a PointT.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:71</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_eigen_point_functor_html_a4aaf515c06547ae5b716c397e610b71b"><div class="ttname"><a href="structpcl_1_1_nd_copy_eigen_point_functor.html#a4aaf515c06547ae5b716c397e610b71b">pcl::NdCopyEigenPointFunctor::NdCopyEigenPointFunctor</a></div><div class="ttdeci">NdCopyEigenPointFunctor(const Eigen::VectorXf &amp;p1, PointOutT &amp;p2)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> point_cloud.h:78</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_eigen_point_functor_html_a7979c2191657f87402f31e3653bf6e33"><div class="ttname"><a href="structpcl_1_1_nd_copy_eigen_point_functor.html#a7979c2191657f87402f31e3653bf6e33">pcl::NdCopyEigenPointFunctor::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdoc">Operator. Data copy happens here.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:85</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_point_eigen_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_copy_point_eigen_functor.html">pcl::NdCopyPointEigenFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen type and a PointT.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:104</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_point_eigen_functor_html_a8a49bab2c09bde18f02f3d54decba885"><div class="ttname"><a href="structpcl_1_1_nd_copy_point_eigen_functor.html#a8a49bab2c09bde18f02f3d54decba885">pcl::NdCopyPointEigenFunctor::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdoc">Operator. Data copy happens here.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:116</div></div>
<div class="ttc" id="astructpcl_1_1_nd_copy_point_eigen_functor_html_ae5f603e9b0917c7210e17725d2f2452b"><div class="ttname"><a href="structpcl_1_1_nd_copy_point_eigen_functor.html#ae5f603e9b0917c7210e17725d2f2452b">pcl::NdCopyPointEigenFunctor::NdCopyPointEigenFunctor</a></div><div class="ttdeci">NdCopyPointEigenFunctor(const PointInT &amp;p1, Eigen::VectorXf &amp;p2)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> point_cloud.h:111</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_header_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_header.html">pcl::PCLHeader</a></div><div class="ttdef"><b>Definition:</b> PCLHeader.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_header_html_a7ccf28ecce53332cd572d1ba982a4579"><div class="ttname"><a href="structpcl_1_1_p_c_l_header.html#a7ccf28ecce53332cd572d1ba982a4579">pcl::PCLHeader::stamp</a></div><div class="ttdeci">pcl::uint64_t stamp</div><div class="ttdoc">A timestamp associated with the time when the data was acquired</div><div class="ttdef"><b>Definition:</b> PCLHeader.h:27</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_mapping_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_mapping.html">pcl::detail::FieldMapping</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:57</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_bdd9a5d540de89e9fe90efdfc6973a4f.html">common</a></li><li class="navelem"><a class="el" href="dir_11fbc4217d50ab21044e5ad6614aede5.html">include</a></li><li class="navelem"><a class="el" href="dir_39ef148c3cf3468c290ae8c03b3c03af.html">pcl</a></li><li class="navelem"><b>point_cloud.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
